There was no doubt in our minds that Madonna, 58, would be an amazing guest when it was first announced she’d be on “Carpool Karaoke” on the Late Late Show with James Corden. But, honestly, nothing could have prepared us for the “Like A Virgin” singer’s epic appearance on Dec. 7. It was all that we hoped for and more.

In the confines of the car, fun loving James and Madonna rocked out to the songstress’ hit “Vogue,”.

The singer displayed her renowned flexibility in a remarkable way when she lifted her legs to the side, and all the way up to the ceiling of the car.

Your turn Corden: Trying to go along with her, James attempted the same move, though it didn’t really work out. Madonna then hardcore twerked in her seat to “Bitch, I’m Madonna.”

He had to commend her. “That’s the first in-car-twerk I’ve seen,” James said, impressed.

Now let's talk about the men—or rather the army of men who had been in her life. After belting out “Papa Don’t Preach” and “Don’t Cry For Me Argentina,” James and Madonna moved on to the topic of men. “What was a night out with Michael Jackson, or a night in [like]?” referring to her one-week romance with the late singer in 1991. “So you want me to kiss and tell then, don’t you?” “Did you kiss?” “Of course,” she said casually. “I mean, baby, I’ve been around.”

Wow! Some disclosure on an issue few know something about.

Madonna said this is the first time she’s ever talked about it because no one ever asks her! Then James asked who made the first move. “Well, I did, if you wanna know the truth. Cause he was a little bit shy. However, he was a willing accomplice. I did get him to loosen up with a glass of chardonnay. And it did. It worked wonders.” OMG. The only thing that came close to topping that reveal was her sticking her leg outside of the car as they sang “Hey Mr. DJ.”

Seeing Lady Gaga and Britney Spares on the Carpool Karaoke was something great, but that was nothing compared to having colourfully mad Madonna on the James Corden show. It was awesome.